Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: fix whitespace

Browse Source
This commit is contained in:
Tom Pittenger 2016-11-18 10:42:10 -08:00
parent 631b5c3ebc
commit 11229d2588
1 changed files with 8 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/SITL/SIM_Aircraft.cpp
View File

@ -511,24 +511,21 @@ void Aircraft::update_wind(const struct sitl_input &input)
// wind vector in earth frame
wind_ef = Vector3f(cosf(radians(input.wind.direction)), sinf(radians(input.wind.direction)), 0) * input.wind.speed;
//float wind_turb=input.wind.turbulence*input.wind.speed; //creating a linear dependency between wind and turbulence
const float wind_turb = input.wind.turbulence * 10.0; // scale input.wind.turbulence to match standard deviation when using iir_coef=0.98
const float iir_coef = 0.98; // filtering high frequencies from turbulence
float wind_turb=input.wind.turbulence;
wind_turb=wind_turb*10.0; //scale input.wind.turbulence to match standard deviation when using iir_coef=0.98
float iir_coef=0.98; //filtering high frequencies from turbulence
if (wind_turb>0 && !on_ground(position)) {
if (wind_turb > 0 && !on_ground(position)) {
turbulence_azimuth=turbulence_azimuth+2*rand();
turbulence_azimuth = turbulence_azimuth + (2 * rand());
turbulence_horizontal_speed=
turbulence_horizontal_speed*iir_coef+wind_turb*rand_normal(0,1)*(1-iir_coef);
turbulence_horizontal_speed * iir_coef+wind_turb * rand_normal(0,1) * (1-iir_coef);
turbulence_vertical_speed=turbulence_vertical_speed*iir_coef+wind_turb*rand_normal(0,1)*(1-iir_coef);
turbulence_vertical_speed = (turbulence_vertical_speed * iir_coef) + (wind_turb * rand_normal(0,1) * (1-iir_coef));
wind_ef += Vector3f(
cosf(radians(turbulence_azimuth))*turbulence_horizontal_speed,
sinf(radians(turbulence_azimuth))*turbulence_horizontal_speed,
cosf(radians(turbulence_azimuth)) * turbulence_horizontal_speed,
sinf(radians(turbulence_azimuth)) * turbulence_horizontal_speed,
turbulence_vertical_speed);
}
}